Proportional Integral Observer-Based Controller for an H2AT System under the Takagi-Sugeno Representation

Abstract

In this article the main objective is the design of a proportional integral (PI) observer that allows estimate the nonmeasurable states of an H2AT pendulum, who represents a person with spinal cord injury and contributes to a better understanding of the behavior of individuals with spinal cord injury. Based on the PI observer, a state feedback controller is designed for a system T-S representation.